diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index e77c99291..6b4f78dc1 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -373,6 +373,8 @@ NEAR_DUPLICATE_LEAD_TRANSITION_MAX_CLOSING_SPEED = 3.5
 NEAR_DUPLICATE_LEAD_TRANSITION_MIN_TTC = 8.0
 NEAR_DUPLICATE_LEAD_TRANSITION_MIN_HEADWAY_BELOW_TARGET = 0.45
 NEAR_DUPLICATE_LEAD_TRANSITION_MAX_HEADWAY_ABOVE_TARGET = 0.85
+NEAR_DUPLICATE_VISION_TRANSITION_MIN_HEADWAY_MARGIN = 0.55
+NEAR_DUPLICATE_VISION_TRANSITION_EXTRA_CLOSING_SPEED = 1.25
 LOW_SPEED_IDENTICAL_RADAR_DUPLICATE_TRANSITION_EXTRA_HEADWAY = 0.15
 NEAR_DUPLICATE_LEAD_TRANSITION_MIN_DELTA_A = 0.35
 NEAR_DUPLICATE_LEAD_TRANSITION_POSITIVE_STEP = 0.22
@@ -2020,13 +2022,6 @@ class LongitudinalPlanner:
 
     relative_speed = float(v_ego) - float(lead.vLead)
     closing_speed = max(0.0, relative_speed)
-    if closing_speed > NEAR_DUPLICATE_LEAD_TRANSITION_MAX_CLOSING_SPEED:
-      return None
-
-    ttc = float(lead.dRel) / max(closing_speed, 0.1) if closing_speed > 0.1 else float("inf")
-    if ttc < NEAR_DUPLICATE_LEAD_TRANSITION_MIN_TTC:
-      return None
-
     actual_headway = float(lead.dRel) / max(float(v_ego), 1e-3)
     if actual_headway < max(0.0, float(base_t_follow) - NEAR_DUPLICATE_LEAD_TRANSITION_MIN_HEADWAY_BELOW_TARGET):
       return None
@@ -2036,6 +2031,20 @@ class LongitudinalPlanner:
     if actual_headway > float(base_t_follow) + max_headway_above_target:
       return None
 
+    max_closing_speed = NEAR_DUPLICATE_LEAD_TRANSITION_MAX_CLOSING_SPEED
+    if (
+      not identical_radar_duplicates and
+      not lead_radar and
+      actual_headway >= float(base_t_follow) + NEAR_DUPLICATE_VISION_TRANSITION_MIN_HEADWAY_MARGIN
+    ):
+      max_closing_speed += NEAR_DUPLICATE_VISION_TRANSITION_EXTRA_CLOSING_SPEED
+    if closing_speed > max_closing_speed:
+      return None
+
+    ttc = float(lead.dRel) / max(closing_speed, 0.1) if closing_speed > 0.1 else float("inf")
+    if ttc < NEAR_DUPLICATE_LEAD_TRANSITION_MIN_TTC:
+      return None
+
     target_delta = float(output_a_target) - float(prev_output_a_target)
     if abs(target_delta) < NEAR_DUPLICATE_LEAD_TRANSITION_MIN_DELTA_A:
       return None
diff --git a/selfdrive/controls/tests/test_longitudinal_planner.py b/selfdrive/controls/tests/test_longitudinal_planner.py
index f884b3a85..9c766f677 100644
--- a/selfdrive/controls/tests/test_longitudinal_planner.py
+++ b/selfdrive/controls/tests/test_longitudinal_planner.py
@@ -3231,6 +3231,55 @@ def test_near_duplicate_lead_transition_target_damps_low_speed_duplicate_radar_h
   assert smoothed == pytest.approx(0.57, abs=1e-6)
 
 
+def test_near_duplicate_lead_transition_target_damps_generous_headway_duplicate_vision_sign_flip():
+  v_ego = 25.0
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=v_ego)
+  lead_one = make_lead(status=True, d_rel=54.0, v_lead=20.8, a_lead=-0.02, radar=False, model_prob=0.99)
+  lead_two = make_lead(status=True, d_rel=54.3, v_lead=20.82, a_lead=-0.01, radar=False, model_prob=0.99)
+  lead_one.vRel = lead_one.vLead - v_ego
+  lead_two.vRel = lead_two.vLead - v_ego
+  planner.lead_one = lead_one
+  planner.lead_two = lead_two
+
+  smoothed = planner.get_near_duplicate_lead_transition_target(
+    lead_two,
+    v_ego,
+    1.45,
+    prev_output_a_target=0.70,
+    output_a_target=-0.61,
+    current_source="lead1",
+    tracking_lead_active=True,
+  )
+
+  assert smoothed is not None
+  assert smoothed == pytest.approx(0.52, abs=1e-6)
+
+
+def test_near_duplicate_lead_transition_target_skips_fast_duplicate_vision_sign_flip_when_headway_is_not_generous():
+  v_ego = 25.0
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=v_ego)
+  lead_one = make_lead(status=True, d_rel=43.0, v_lead=20.8, a_lead=-0.02, radar=False, model_prob=0.99)
+  lead_two = make_lead(status=True, d_rel=43.3, v_lead=20.82, a_lead=-0.01, radar=False, model_prob=0.99)
+  lead_one.vRel = lead_one.vLead - v_ego
+  lead_two.vRel = lead_two.vLead - v_ego
+  planner.lead_one = lead_one
+  planner.lead_two = lead_two
+
+  smoothed = planner.get_near_duplicate_lead_transition_target(
+    lead_two,
+    v_ego,
+    1.45,
+    prev_output_a_target=0.70,
+    output_a_target=-0.61,
+    current_source="lead1",
+    tracking_lead_active=True,
+  )
+
+  assert smoothed is None
+
+
 def test_duplicate_slow_lead_brake_hold_prevents_zero_cross_from_duplicate_voacc_leads():
   v_ego = 24.0
   CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)